time dcm_x dcm_y dcm_des_x dcm_des_y dcm_des_dx dcm_des_dy zmp_x zmp_y zmp_des_x zmp_des_y com_x com_y com_z com_des_x com_des_y com_des_z com_des_dx com_des_dy com_des_dz lf_x lf_y lf_z lf_roll lf_pitch lf_yaw rf_x rf_y rf_z rf_roll rf_pitch rf_yaw lf_des_x lf_des_y lf_des_z lf_des_roll lf_des_pitch lf_des_yaw rf_des_x rf_des_y rf_des_z rf_des_roll rf_des_pitch rf_des_yaw LHipYawPitch RHipYawPitch LShoulderPitch LShoulderRoll LElbowYaw LElbowRoll RShoulderPitch RShoulderRoll RElbowYaw RElbowRoll LHipPitch LHipRoll LKneePitch LAnklePitch LAnkleRoll RHipPitch RHipRoll RKneePitch RAnklePitch RAnkleRoll LHipYawPitch_des RHipYawPitch_des LShoulderPitch_des LShoulderRoll_des LElbowYaw_des LElbowRoll_des RShoulderPitch_des RShoulderRoll_des RElbowYaw_des RElbowRoll_des LHipPitch_des LHipRoll_des LKneePitch_des LAnklePitch_des LAnkleRoll_des RHipPitch_des RHipRoll_des RKneePitch_des RAnklePitch_des RAnkleRoll_des frx fry frz mrx mry mrz flx fly flz mlx mly mlz POS_X POS_Y CONTROL_ORDER trash 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0.866837 0.045 0.01088 0 -0 0 0.874669 -0.045 0 0 -0 0 0.00660515 -0.0017176 1.47477 0.115455 -0.959704 -0.0927294 1.47535 -0.128931 0.958295 0.0894416 -0.540415 -0.0186179 0.841429 -0.359433 -0.0288712 -0.563302 0.0344665 0.772242 -0.26892 -0.0819395 -0.00222657 0.00651134 1.47593 0.109302 -0.958862 -0.0920349 1.47586 -0.11689 0.959113 0.0905753 -0.601656 -0.0297001 0.961594 -0.408448 -0.0334941 -0.575112 0.0231113 0.813909 -0.29348 -0.0862942 7.06719 -1.48173 26.1479 -1.14425 0.108587 0.335559 -7.54096 -7.45293 33.1693 -1.0799 -1.37494 -0.466808 2 0 0 0 36.9623 49.4051 0.758932 -0.299773 0.218448 32.818 0.870121 -0.0263755 0.876264 -0.0256124 0.0161877 0.0897682 0.878806 -0.0382373 0.866913 -0.0408394 0.873116 -0.0118773 0.249262 0.871459 -0.0146319 0.251988 0.0320112 -0.0734374 0 0.864182 0.0448037 0.00889063 -0.000715702 0.00529867 0.000787745 0.874669 -0.045 6.93889e-18 0 -0 0 0.868115 0.045 0.0132553 0 -0 0 0.874669 -0.045 0 0 -0 0 0.00282902 0.000650019 1.47634 0.111412 -0.959264 -0.0919728 1.47666 -0.123859 0.958861 0.0893799 -0.574512 -0.0248746 0.908975 -0.387803 -0.0317018 -0.569271 0.0283846 0.797457 -0.285327 -0.0842971 -0.0056667 0.00958799 1.47689 0.106243 -0.958811 -0.0917694 1.47682 -0.113709 0.959059 0.0903441 -0.629681 -0.0340603 1.01768 -0.430477 -0.0363555 -0.58317 0.0183069 0.834699 -0.304774 -0.0887129 8.26579 0.433005 32.0163 -0.944866 0.531855 0.299867 -4.46063 -6.09359 24.5238 -0.875901 -1.02223 -0.405112 2 0 0 0 37.0716 49.5382 0.75896 -0.300511 0.218181 32.828 0.85639 -0.0245057 0.876431 -0.0246861 0.0172298 0.0955475 0.888867 -0.0332193 0.851624 -0.0398015 0.873428 -0.0125882 0.249187 0.871774 -0.0153127 0.251988 0.0310209 -0.0627311 0 0.86547 0.0446298 0.0111857 -0.00196697 0.00571215 0.00150724 0.874669 -0.045 6.93889e-18 0 -0 0 0.869481 0.045 0.0155671 0 -0 0 0.874669 -0.045 0 0 -0 0 -0.00271888 0.00481716 1.47794 0.108315 -0.959609 -0.0915826 1.47831 -0.118277 0.958039 0.0893262 -0.59815 -0.0304837 0.963134 -0.409115 -0.0343709 -0.578213 0.0232198 0.820308 -0.297345 -0.0861181 -0.00917731 0.0126813 1.47768 0.103642 -0.958768 -0.0915613 1.4776 -0.11131 0.959023 0.0901035 -0.655469 -0.0376325 1.06961 -0.45059 -0.0390664 -0.589671 0.0142065 0.853875 -0.316079 -0.0909083 10.3791 2.86615 40.0517 -0.204254 -0.21498 0.089427 -2.26454 -4.73441 17.8251 -0.712738 -0.769667 -0.350404 2 0 0 0 37.1296 49.6087 0.759114 -0.301323 0.218412 32.843 0.897679 -0.0261412 0.876608 -0.0237002 0.0183391 0.101699 0.892813 -0.0274197 0.896847 -0.0426851 0.873407 -0.0132181 0.249142 0.87208 -0.015888 0.251988 0.0301638 -0.0523318 0 0.866759 0.0443864 0.0138661 -0.0037794 0.00532551 0.00174998 0.874669 -0.045 6.93889e-18 0 -0 0 0.870914 0.045 0.0177259 0 -0 0 0.874669 -0.045 0 0 -0 0 -0.00552997 0.00688684 1.4786 0.105512 -0.959327 -0.0911461 1.47846 -0.114586 0.958516 0.0891672 -0.631364 -0.0351168 1.02417 -0.430909 -0.0373573 -0.588031 0.019137 0.841888 -0.30616 -0.0878368 -0.0126776 0.0156949 1.4784 0.1016 -0.958734 -0.0913635 1.47832 -0.109595 0.959 0.0898472 -0.678991 -0.0406621 1.11606 -0.467115 -0.0411321 -0.594858 0.010619 0.870808 -0.326027 -0.0924391 13.9968 4.65497 49.6075 0.546386 -0.650675 -0.158806 -0.478944 -4.03314 12.5975 -0.579862 -0.576606 -0.328707 2 0 0 0 37.3089 49.8198 0.759253 -0.302101 0.21906 32.853 0.86472 -0.0251077 0.876798 -0.0226508 0.0195198 0.108246 0.87849 -0.0244812 0.860383 -0.0427026 0.874079 -0.0139523 0.249142 0.872378 -0.0163607 0.251988 0.0294357 -0.0421948 0 0.868613 0.0441694 0.0161055 -0.00522879 0.00534882 0.00181323 0.874669 -0.045 6.93889e-18 0 -0 0 0.872397 0.045 0.0196422 0 -0 0 0.874669 -0.045 0 0 -0 0 -0.0106581 0.0113708 1.47988 0.102844 -0.95984 -0.0910484 1.47954 -0.111704 0.958139 0.0891965 -0.65119 -0.0392879 1.07013 -0.44801 -0.0406444 -0.591922 0.0153489 0.860788 -0.318961 -0.0900911 -0.0160544 0.0185452 1.47907 0.100132 -0.958709 -0.0911726 1.47899 -0.108515 0.958987 0.0895847 -0.69973 -0.0431056 1.15563 -0.479368 -0.0425549 -0.598688 0.00763431 0.885069 -0.334277 -0.0933528 13.9735 6.68531 53.93 1.05426 0.0840376 -0.364064 1.6494 -3.6136 7.67119 -0.474985 -0.365024 -0.298912 2 0 0 0 37.3477 49.8631 0.759307 -0.302806 0.219865 32.863 0.891624 -0.0239612 0.876999 -0.0215339 0.0207765 0.115215 0.88125 -0.0235333 0.889757 -0.0426701 0.874303 -0.0144863 0.249212 0.872669 -0.016733 0.251988 0.0288331 -0.032277 0 0.869897 0.0440861 0.0187326 -0.00574919 0.00481392 0.0014453 0.874669 -0.045 6.93889e-18 0 -0 0 0.873908 0.045 0.0212264 0 -0 0 0.874669 -0.045 0 0 -0 0 -0.0131715 0.0139098 1.47954 0.101042 -0.959129 -0.0909399 1.47946 -0.109342 0.958463 0.0892205 -0.67871 -0.042621 1.1223 -0.46738 -0.0428129 -0.597829 0.0117594 0.877202 -0.327205 -0.0915243 -0.0191847 0.0211648 1.47964 0.0992143 -0.958693 -0.0910092 1.47955 -0.108051 0.958985 0.0893357 -0.716907 -0.0447655 1.18689 -0.487167 -0.0435709 -0.600971 0.00548461 0.896352 -0.341063 -0.093919 14.2012 7.12163 53.7266 1.26501 -0.182156 -0.436593 3.24787 -3.40332 4.13316 -0.39148 -0.217759 -0.276558 2 0 0 0 37.5237 50.067 0.759323 -0.30355 0.220668 32.873 0.872795 -0.019865 0.877213 -0.020345 0.0221141 0.122633 0.886107 -0.0238314 0.868809 -0.039472 0.874856 -0.0149302 0.24919 0.872955 -0.0170071 0.251988 0.0283529 -0.0225362 0 0.871644 0.0440781 0.0205821 -0.00555241 0.0049765 0.00105918 0.874669 -0.045 6.93889e-18 0 -0 0 0.87543 0.045 0.0223888 0 -0 0 0.874669 -0.045 0 0 -0 0 -0.0173952 0.0181406 1.48022 0.0999407 -0.959498 -0.090783 1.48044 -0.107789 0.958155 0.0893143 -0.696544 -0.045224 1.15837 -0.478458 -0.0441832 -0.602142 0.00872687 0.892455 -0.337105 -0.0927367 -0.0219407 0.0234738 1.48007 0.0988371 -0.958686 -0.0908854 1.47998 -0.108196 0.958994 0.0891118 -0.729875 -0.0454794 1.20848 -0.490151 -0.0443928 -0.601602 0.00436148 0.90426 -0.346291 -0.0943758 14.5185 7.20125 51.1893 1.34382 -0.519481 -0.482949 4.32923 -3.06091 1.06605 -0.332697 -0.0810575 -0.246458 2 0 0 0 37.5543 50.0978 0.759312 -0.304218 0.221222 32.883 0.874933 -0.0204732 0.877442 -0.0190796 0.0235378 0.130528 0.901841 -0.0162534 0.87091 -0.0415329 0.875181 -0.015188 0.249413 0.873237 -0.0171844 0.251988 0.0279926 -0.0129311 0 0.873603 0.044159 0.0227226 -0.00466996 0.00336541 0.000202208 0.874669 -0.045 6.93889e-18 0 -0 0 0.876941 0.045 0.02304 0 -0 0 0.874669 -0.045 0 0 -0 0 -0.018921 0.0202666 1.48062 0.0992917 -0.958745 -0.090538 1.48023 -0.106835 0.958742 0.0892067 -0.718445 -0.0464345 1.19473 -0.488553 -0.044727 -0.600944 0.00661677 0.900173 -0.342565 -0.0933159 -0.0241574 0.0253886 1.48022 0.0990287 -0.958689 -0.0908329 1.48013 -0.108874 0.959012 0.0889655 -0.737602 -0.0453385 1.21937 -0.48926 -0.0447473 -0.600031 0.00423716 0.908483 -0.350951 -0.0945094 13.8047 8.47411 47.8562 1.39661 -0.140602 -0.544715 4.71241 -2.59216 -1.28597 -0.289415 -0.000559631 -0.214043 2 0 0 0 37.65 50.2058 0.759367 -0.304827 0.221534 32.893 0.867657 -0.0217775 0.877685 -0.0177328 0.0250531 0.138931 0.926548 -0.0137983 0.862639 -0.0444492 0.875551 -0.0153619 0.249567 0.873516 -0.0172662 0.251988 0.0277502 -0.00342118 0 0.875346 0.044261 0.0240371 -0.00365376 0.00393146 -0.000210837 0.874669 -0.045 6.93889e-18 0 -0 0 0.878424 0.045 0.0230904 0 -0 0 0.874669 -0.045 0 0 -0 0 -0.020634 0.0222348 1.48119 0.0990299 -0.95857 -0.0905107 1.48121 -0.106878 0.959426 0.0892352 -0.732833 -0.0465634 1.21553 -0.489889 -0.0450298 -0.599353 0.00568712 0.904573 -0.346617 -0.0938775 -0.0257175 0.02683 1.48006 0.0998502 -0.958704 -0.0908547 1.47997 -0.11005 0.959038 0.0889184 -0.739393 -0.0444357 1.21841 -0.48441 -0.0443547 -0.596029 0.00508254 0.90852 -0.355017 -0.0940985 13.9382 9.5264 46.0347 1.4709 -0.0687123 -0.60674 4.66214 -2.22457 -2.50337 -0.25144 0.0400011 -0.19823 2 0 0 0 37.7383 50.3044 0.759502 -0.305328 0.221617 32.903 0.874693 -0.0117377 0.877943 -0.0162992 0.0266661 0.147876 0.957386 -0.0111455 0.870094 -0.0349823 0.87567 -0.0154417 0.249267 0.873792 -0.0172531 0.251988 0.0276242 0.0060334 0 0.876532 0.0445035 0.0242715 -0.00225932 0.0042382 -0.000632947 0.874669 -0.045 6.93889e-18 0 -0 0 0.879858 0.045 0.0224504 0 -0 0 0.874669 -0.045 0 0 -0 0 -0.0223851 0.0242391 1.48185 0.0990644 -0.95845 -0.0904624 1.48169 -0.107405 0.959535 0.0890888 -0.739054 -0.0459942 1.22563 -0.488691 -0.0451825 -0.603207 0.00510774 0.917387 -0.353426 -0.094321 -0.0264975 0.0277326 1.47952 0.1013 -0.958731 -0.0909778 1.47944 -0.111842 0.959075 0.0889736 -0.734181 -0.0423173 1.20378 -0.475282 -0.0437962 -0.589299 0.00732466 0.90379 -0.358503 -0.0936921 14.0674 10.8094 46.7957 1.62994 0.0541348 -0.707677 4.13264 -2.00188 -4.09964 -0.220344 0.0819828 -0.186554 2 0 0 0 37.7686 50.3348 0.759781 -0.305702 0.221587 32.913 0.883999 -0.00887479 0.878218 -0.0147733 0.0283828 0.157396 0.962862 -0.00843647 0.880028 -0.0335116 0.876017 -0.0153623 0.249312 0.874069 -0.0171456 0.251988 0.0276135 0.0154722 0 0.878239 0.0446756 0.0243921 -0.00103975 0.00282771 -0.00112427 0.874669 -0.045 6.93889e-18 0 -0 0 0.881223 0.045 0.0210304 0 -0 0 0.874669 -0.045 0 0 -0 0 -0.0232628 0.0254348 1.48099 0.0999368 -0.958068 -0.0904556 1.48095 -0.108207 0.959615 0.0891703 -0.741489 -0.0447214 1.22628 -0.48387 -0.0445975 -0.597956 0.00557617 0.918169 -0.356442 -0.0941765 -0.0264638 0.0280518 1.47871 0.103467 -0.95877 -0.0911792 1.47863 -0.114395 0.959125 0.0890961 -0.721414 -0.0386886 1.1733 -0.459848 -0.0432861 -0.580014 0.0112565 0.89343 -0.359908 -0.0934983 12.7204 12.0468 51.6791 1.9255 -0.456782 -0.598576 2.48048 -1.87085 -4.25913 -0.188409 0.0347162 -0.193908 2 0 0 0 37.8342 50.4077 0.760132 -0.305972 0.221528 32.923 0.884517 -0.0104119 0.878511 -0.0131492 0.0302101 0.167529 0.947049 -0.00689349 0.880275 -0.0369889 0.876729 -0.0151519 0.249527 0.874345 -0.0169436 0.251988 0.0277176 0.0249345 0 0.880252 0.0448266 0.0236123 0.000277803 0.000496766 -0.00183131 0.874669 -0.045 6.93889e-18 0 -0 0 0.882501 0.045 0.0187496 0 -0 0 0.874669 -0.045 0 0 -0 0 -0.0248975 0.0277538 1.479 0.101713 -0.958585 -0.090511 1.47874 -0.109467 0.959317 0.089514 -0.730986 -0.0419309 1.20609 -0.472165 -0.0434974 -0.585834 0.00779837 0.907919 -0.356715 -0.0938776 -0.0256358 0.027768 1.47772 0.106503 -0.958823 -0.0914242 1.47765 -0.117842 0.959189 0.0892548 -0.700684 -0.0334953 1.12507 -0.436031 -0.0425387 -0.568363 0.0169618 0.876595 -0.35763 -0.0932591 9.87019 12.2505 57.8812 2.22537 -1.48095 -0.486708 0.819806 -1.55167 -2.85993 -0.159956 -0.0171176 -0.167065 2 0 0 0 37.8487 50.421 0.760527 -0.30615 0.22144 32.933 0.886835 -0.00843552 0.878823 -0.0114206 0.0321551 0.178315 0.90843 -0.00612902 0.882482 -0.0367164 0.877586 -0.0149033 0.249552 0.874624 -0.0166466 0.251988 0.0279364 0.0344596 0 0.881924 0.044967 0.0219777 0.00147915 -0.00204161 -0.00263134 0.874669 -0.045 6.93889e-18 0 -0 0 0.883671 0.045 0.0157257 0 -0 0 0.874669 -0.045 0 0 -0 0 -0.0245549 0.0286913 1.47768 0.104111 -0.958493 -0.0909789 1.47788 -0.111937 0.95977 0.0904589 -0.718173 -0.0377894 1.17341 -0.456257 -0.0426645 -0.577359 0.011652 0.897553 -0.356613 -0.0939811 -0.0241713 0.0269669 1.47668 0.110399 -0.958888 -0.0916825 1.47662 -0.122254 0.959268 0.0894026 -0.67275 -0.0267064 1.06003 -0.403208 -0.0416132 -0.554934 0.0244164 0.853579 -0.350732 -0.0929811 8.76156 11.6443 63.2429 2.46443 -1.22893 -0.665591 -0.728669 -1.09269 -0.997561 -0.138541 -0.0692546 -0.11259 2 0 0 0 37.7993 50.3613 0.760993 -0.306327 0.221406 32.943 0.90248 0.00193446 0.879155 -0.00958062 0.0342252 0.189795 0.881764 -0.015861 0.899327 -0.0273334 0.878768 -0.014561 0.24945 0.874905 -0.0162539 0.251988 0.0282703 0.0440867 0 0.883203 0.0451469 0.0193585 0.00289002 -0.00241525 -0.00320662 0.874669 -0.045 6.93889e-18 0 -0 0 0.884716 0.045 0.0122751 0 -0 0 0.874669 -0.045 0 0 -0 0 -0.0227199 0.0283713 1.4754 0.107554 -0.958676 -0.0917521 1.47531 -0.114731 0.959327 0.0909323 -0.698933 -0.0321781 1.12313 -0.432395 -0.0416827 -0.569956 0.0170839 0.884353 -0.356069 -0.0942362 -0.0223529 0.0258415 1.47572 0.114932 -0.958959 -0.0919374 1.47566 -0.127653 0.959364 0.0894739 -0.639533 -0.0181722 0.982233 -0.362535 -0.0412396 -0.540671 0.0336249 0.825914 -0.339167 -0.0932548 9.01002 9.75603 67.2019 1.95196 -0.290446 -0.624803 -2.51212 -0.823264 2.00876 -0.115722 -0.183817 -0.0771574 2 0 0 0 37.7196 50.2692 0.761595 -0.306599 0.221356 32.953 0.878088 0.00784441 0.879508 -0.00762221 0.0364287 0.202014 0.871835 -0.0295664 0.872107 -0.0229867 0.879965 -0.0140668 0.249452 0.87519 -0.0157642 0.251988 0.0287203 0.0538554 0 0.884725 0.0453029 0.0161025 0.00413422 -0.00400865 -0.00373537 0.874669 -0.045 6.93889e-18 0 -0 0 0.885613 0.045 0.00872296 0 -0 0 0.874669 -0.045 0 0 -0 0 -0.0199446 0.0270246 1.4742 0.111741 -0.958553 -0.0919114 1.47413 -0.118629 0.95964 0.0912194 -0.671032 -0.0249919 1.05478 -0.400885 -0.0404494 -0.556178 0.0243121 0.862334 -0.352256 -0.0942768 -0.020424 0.0246299 1.47472 0.11982 -0.959033 -0.0922357 1.47468 -0.133934 0.95948 0.0894807 -0.602394 -0.00801243 0.897264 -0.318562 -0.0418971 -0.525506 0.0443577 0.795502 -0.32558 -0.0944579 7.73652 6.78071 70.7835 0.776877 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